Direct adaptive fuzzy H∞ tracking control for a class of uncertain nonlinear systems based on LMI technique

A novel robust direct adaptive fuzzy H_∞ control scheme based on fuzzy basis functions is proposed via linear matrix inequality technique for the single input single output nonlinear system. A robust control compensator is derived to offset the effect of uncertainties. It can be shown that the effect of the external disturbance on the tracking error can be attenuated to prescribed level and then the H_∞ tracking control performance is achieved. Theory has proved that the algorithm of on-line self-adjusting by means of altering the fuzzy rules basis made the control system stable globally and then the tracking control has been achieved.